Hi all,

I try to execute a standard navigation demo on PR2 using a map already built with gmapping and amcl.

In short: if someone can point me to working launch files it would be perfect.

---

In details, What I do:

1) on the c1 machine of the PR2:

roslaunch pr2_fcfm nav.launch

------ nav.launch -----

<launch>  
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/> 
  <node name="map_server" pkg="map_server" type="map_server" args="$(find pr2_fcfm)/maps/lptvMapCleaned.yaml"/>
  <include file="$(find pr2_navigation_global)/amcl_node.xml" />
  <include file="$(find pr2_navigation_global)/move_base.xml" />
</launch>

---

2) Then, on a remote machine, I launch rviz like that:

roslaunch pr2_navigation_global rviz/rviz_move_base.launch

---

But my problems are:

A) the floorscan in rviz display the /basescanthrottled topic by default and I cannot see the white dots. If I replace it by /basescan, I then can see the white dots but it sometimes rviz sporadically display a tf error because /base_scan cannot be transformed to /map. So it does not fully work... Any idea?

B) If I set a pose estimation and then a goal in Rviz, I can see the computed displayed but the robot does not move. I tried to directly publish a move command:

rostopic pub /navigation/cmdvel geometrymsgs/Twist ...

But the robot still does not move. And yes, the default movebase launch file seems to remap /cmdvel to /navigation/cmd_vel

Any idea?

Thx,

Luc